From 0c860fa2274b0adb61f571b4aa8bbf16caff1a08 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 30 Aug 2022 20:28:50 +0300 Subject: [PATCH] airspeed_selector: don't declare wind estimate valid if estmator is not initialised Signed-off-by: RomanBapst --- src/modules/airspeed_selector/airspeed_selector_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp index e2c2e1f6b6..8701f362fd 100644 --- a/src/modules/airspeed_selector/airspeed_selector_main.cpp +++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp @@ -547,7 +547,7 @@ void AirspeedModule::update_ground_minus_wind_airspeed() { const float wind_uncertainty = sqrtf(_wind_estimate_sideslip.variance_north + _wind_estimate_sideslip.variance_east); - if (wind_uncertainty < _param_wind_sigma_max_synth_tas.get()) { + if (_wind_estimator_sideslip.is_estimate_valid() && wind_uncertainty < _param_wind_sigma_max_synth_tas.get()) { // calculate airspeed estimate based on groundspeed-windspeed const float TAS_north = _vehicle_local_position.vx - _wind_estimate_sideslip.windspeed_north; const float TAS_east = _vehicle_local_position.vy - _wind_estimate_sideslip.windspeed_east;